Medical control apparatus and medical observation system

ABSTRACT

Provided is a medical control apparatus including an imaging control unit that adjusts an inward angle which is an angle formed by an imaging direction in a first imaging device that captures a medical image for the right eye and an imaging direction in a second imaging device that captures a medical image for the left eye to the inward angle corresponding to a display device that displays the medical image for the right eye and the medical image for the left eye.

TECHNICAL FIELD

The present disclosure relates to a medical control apparatus and amedical observation system.

BACKGROUND ART

In recent years, there is a case, in medical fields, of using a medicalobservation apparatus capable of enlarged observation of an observationtarget such as an affected site in order to support microsurgery such asneurosurgery. Examples of the medical observation apparatus include amedical observation apparatus equipped with an optical microscope and amedical observation apparatus equipped with an imaging device thatfunctions as an electronic imaging microscope. Hereinafter, the medicalobservation apparatus equipped with the above-described opticalmicroscope will be referred to as an “optical medical observationapparatus”. In addition, hereinafter, a medical observation apparatusequipped with the above-described imaging device will be referred to asan “electronic imaging medical observation apparatus” or simply as a“medical observation apparatus”.

With increased image quality in imaging devices and display devices thatdisplay captured images, an electronic imaging medical observationapparatus can obtain image quality equal to or higher than that of anoptical medical observation apparatus. In addition, a user of anelectronic imaging medical observation apparatus (for example, a medicalworker such as a practitioner or an assistant of the practitioner) neednot observe through an eyepiece of an optical microscope as in the caseof using an optical medical observation apparatus, and thus it ispossible to more freely move the position of the imaging device.Therefore, the use of the electronic imaging medical observationapparatus has an advantage that surgical operations can be supportedmore flexibly by moving the position of the imaging device, promotingthe use of the electronic imaging medical observation apparatus inmedical fields.

Under such circumstances, technologies concerning an electronic imagingmedical observation apparatus have been developed. Examples of the abovetechnologies include the technology described in Patent Literature 1below.

CITATION LIST Patent Literature

Patent Literature 1: JP 2017-158970 A

DISCLOSURE OF INVENTION Technical Problem

For example, there are cases, in a surgical operation field, where aplurality of display devices to display an image of a medical practicetarget patient captured by a medical observation apparatus is arrangedat positions where each of a practitioner, an assistant, and a nurse canobtain a good view”. Hereinafter, an image captured by a medicalobservation apparatus is referred to as a “medical image”.

Some medical observation apparatuses include a plurality of imagingdevices and have a function of capturing a medical image for the righteye and a medical image for the left eye. In addition, some displaydevices have a configuration corresponding to any types of displaycapable of 3D display, such as an eyeglass type that enables 3D displayin cooperation with an eyeglass-type device, or a naked eye type thatenables 3D display without cooperation with the eyeglass-type device.With the medical image for the right eye and the medical image for theleft eye displayed on individual display screens of display devices, aviewer of the display screen can obtain a three-dimensional effect onthe displayed medical images.

Here, in order to reproduce a natural three-dimensional effect with lessfatigue, it is desirable to achieve a match between an inward angle(described below) in two imaging devices, that is, the device forcapturing a medical image for the right eye and the device for capturinga medical image for the left eye and a convergence angle (describedbelow) formed by the right eye and the left eye of the viewer of thedisplay screen. In the present specification, achieving a match betweenthe inward angle (described below) and the convergence angle (describedbelow) has two meanings, that is, achieving a complete match between theinward angle (described below) and the convergence angle (describedbelow), and achieving a smaller difference between the inward angle(described below) and the convergence angle (described below).

In a case where a plurality of display devices is arranged in a surgicaloperation field, the convergence angle (described below) varies for eachof display devices due to various factors such as the location of thedisplay device and the size of the display screen. Furthermore, alongwith the convergence angle (described below) changing for each ofdisplay devices, the inward angle (described below) for reproducing anatural three-dimensional effect with less fatigue would also vary foreach of display devices. The greater the difference between the inwardangle (described below) and the convergence angle (described below), themore the viewer of the medical image displayed on the display screenfeels that the image is a flat image with no stereoscopic effect, orthat the image is a distorted image with an excessive three-dimensionaleffect.

The present disclosure proposes a novel and improved medical controlapparatus and a medical observation system capable of obtaining amedical image with a more natural three-dimensional effect.

Solution to Problem

According to the present disclosure, there is provided a medical controlapparatus including an imaging control unit that adjusts an inward anglewhich is an angle formed by an imaging direction in a first imagingdevice that captures a medical image for a right eye and an imagingdirection in a second imaging device that captures a medical image for aleft eye to the inward angle corresponding to a display device thatdisplays the medical image for the right eye and the medical image forthe left eye.

Moreover, according to the present disclosure, there is provided amedical observation system including: a medical control apparatusincluding an imaging control unit that adjusts an inward angle which isan angle formed by an imaging direction in a first imaging device thatcaptures a medical image for a right eye and an imaging direction in asecond imaging device that captures a medical image for a left eye tothe inward angle corresponding to a display device that displays themedical image for the right eye and the medical image for the left eye;and a display device that displays the medical image for the right eyeand the medical image for the left eye on a display screen.

Advantageous Effects of Invention

According to the present disclosure, it is possible to obtain a medicalimage with a more natural three-dimensional effect.

Note that the above-described effects are not necessarily limited, andany of the effects described in the present specification, or othereffects that can be known from the present specification, together withthe above effects or instead of the above effects, may be obtained.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a view illustrating an example of a configuration of a medicalobservation system according to the present embodiment.

FIG. 2 is a view illustrating an example of a configuration of a medicalobservation apparatus according to the present embodiment.

FIG. 3 is a view illustrating an example of a configuration of animaging device unit included in the medical observation apparatusaccording to the present embodiment.

FIG. 4 is a functional block diagram illustrating an example of aconfiguration of a medical observation apparatus according to thepresent embodiment.

FIG. 5 is a view illustrating a control method according to the presentembodiment.

FIG. 6 is a view illustrating an example of an adapter according to thepresent embodiment that can adjust an inward angle to a convergenceangle corresponding to a display device.

FIG. 7 is a view illustrating an example of a configuration of anadjustment mechanism according to the present embodiment.

FIG. 8 is a view illustrating an example of an imaging control processaccording to a control method of the present embodiment.

FIG. 9 is a view illustrating an example of an imaging control processaccording to the control method of the present embodiment.

FIG. 10 is a view illustrating the significance of arranging a pluralityof imaging devices on each of a first plane and a second plane accordingto the present embodiment.

FIG. 11 is a view illustrating the significance of arranging a pluralityof imaging devices on each of a first plane and a second plane accordingto the present embodiment.

FIG. 12 is a view illustrating the significance of arranging a pluralityof imaging devices on each of the first plane and the second planeaccording to the present embodiment.

FIG. 13 is a view illustrating an example of an imaging control processaccording to the control method of the present embodiment.

FIG. 14 is a view illustrating an example of a display control processaccording to the present embodiment.

FIG. 15 is a view illustrating an example of a surgical operation fieldwhere the medical observation system according to the present embodimentis used.

FIG. 16A is a view illustrating an example of a first imaging device anda second imaging device selected by the imaging control processaccording to the present embodiment, and a medical image displayed on adisplay device.

FIG. 16B is a view illustrating an example of a first imaging device anda second imaging device selected by the imaging control processaccording to the present embodiment, and a medical image displayed on adisplay device.

FIG. 16C is a view illustrating an example of a first imaging device anda second imaging device selected by the imaging control processaccording to the present embodiment, and a medical image displayed on adisplay device.

FIG. 17 is a view conceptually illustrating an example of arrangement ofdisplay devices in the medical observation system according to thepresent embodiment.

FIG. 18A is a flowchart illustrating an example of a process accordingto the control method of the present embodiment.

FIG. 18B is a flowchart illustrating an example of a process accordingto the control method of the present embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, preferred embodiments of the present disclosure will bedescribed in detail with reference to the accompanying drawings. In thisspecification and the drawings, components having substantially the samefunctional configuration are denoted by the same reference numerals, andredundant description is omitted.

In the following, description will be given in the following order.

1. Medical observation system according to the present embodiment andcontrol method according to the present embodiment

2. Program according to the present embodiment

(Medical Observation System According to the Present Embodiment, andControl Method According to the Present Embodiment)

Hereinafter, a control method according to the present embodiment willbe described together with an example of a medical observation systemaccording to the present embodiment.

Hereinafter, description will be given focusing mainly on a case wherethe medical observation apparatus according to the present embodimentperforms the process according to the control method of the presentembodiment, that is, the case where the medical observation apparatusaccording to the present embodiment functions as a medical controlapparatus. Note that the device that functions as the medical controlapparatus in the medical observation system according to the presentembodiment is not limited to the medical observation apparatus accordingto the present embodiment. For example, in the medical observationsystem according to the present embodiment, a display device accordingto the present embodiment may perform a process according to the controlmethod of the present embodiment and may function as a medical controlapparatus. In the medical observation system according to the presentembodiment, any device, such as a medical controller, capable ofperforming the process according to the control method of the presentembodiment can function as a medical control apparatus.

[1] Configuration of Medical Observation System

FIG. 1 is a view illustrating an example of a configuration of a medicalobservation system 1000 according to the present embodiment,illustrating an example of a surgical operation field in which themedical observation system 1000 is used. The medical observation system1000 includes a medical observation apparatus 100 and display devices200A and 200B, for example.

Note that the medical observation system according to the presentembodiment is not limited to the example illustrated in FIG. 1.

For example, the medical observation system according to the presentembodiment may further include a medical medical control apparatus (notillustrated) that performs a process according to the control method ofthe present embodiment and that controls various types of operation inthe medical observation apparatus 100. As described below, the medicalobservation system 1000 illustrated in FIG. 1 is an example in which themedical observation apparatus 100 includes a control unit (describedbelow) that performs a process according to the control method of thepresent embodiment, thereby enabling the medical observation apparatus100 to have the function of the medical control apparatus (notillustrated).

Examples of the medical control apparatus (not illustrated) include anydevice that can perform a process according to the control method of thepresent embodiment, such as a “medical controller” or a “computer suchas a server”. Furthermore, the medical control apparatus (notillustrated) may be an integrated circuit (IC) that can be incorporatedin the above device.

Furthermore, although FIG. 1 illustrates two display devices 200A and200B, the number of display devices included in the medical observationsystem according to the present embodiment is not limited to two. Forexample, the medical observation system according to the presentembodiment may include three or more display devices. Hereinafter, aplurality of display devices included in the medical observation systemaccording to the present embodiment may be collectively or individuallyreferred to as “display device 200”.

Furthermore, the medical observation system according to the presentembodiment may have a configuration including a plurality of the medicalobservation apparatuses 100. In a case where the plurality of medicalobservation apparatuses 100 is provided, a process according to thecontrol method of the present embodiment is performed in each of themedical observation apparatuses 100. In a case where the medicalobservation system according to the present embodiment has aconfiguration including the plurality of medical observation apparatuses100, the medical observation apparatus 100 and the display device 200may be associated with each other one by one, or the plurality ofmedical observation apparatuses 100 may be associated with one displaydevice 200. In a case where the plurality of medical observationapparatuses 100 is associated with one display device 200, the displaydevice 200 performs switching operation or the like, for example, toselect a medical image to be displayed on the display screen from theimages captured by the plurality of medical observation apparatuses 100.

Hereinafter, each of devices included in the medical observation system1000 will be described.

[1-1] Display Device 200

The display device 200 is a display unit in the medical observationsystem 1000 and corresponds to an external display device when viewedfrom the medical observation apparatus 100. The display device 200displays various images such as a medical image (a moving image or aplurality of still images; the similar applies hereinafter) captured bythe medical observation apparatus 100, an image related to a userinterface (UI), or the like, on the display screen. Furthermore, thedisplay device 200 has a configuration capable of performing 3D displayby an arbitrary method. The display on the display device 200 iscontrolled by the medical observation apparatus 100 or a medical controlapparatus (not illustrated), for example.

In the medical observation system 1000, the display device 200 isinstalled at any location visually recognizable by a person involved inthe surgical operation including a practitioner in an operating room,such as a wall surface, a ceiling, or a floor surface of a surgicalroom, as illustrated in the display devices 200A and 200B in FIG. 1.Examples of the display device 200 include a liquid crystal display, anorganic electro-luminescence (EL) display, a cathode ray tube (CRT)display, or the like.

Note that the display device 200 is not limited to the example describedabove.

For example, the display device 200 may be any wearable device used by apractitioner or the like worn on his body, such as a head-mounteddisplay or an eyewear type device.

The display device 200 is driven by power supplied from an internalpower supply such as a battery included in the display device 200 orpower supplied from a connected external power supply.

[1-2] Medical Observation Apparatus 100

The medical observation apparatus 100 is an electronic imaging medicalobservation apparatus. For example, in a case where the medicalobservation apparatus 100 is used at the time of surgery, thepractitioner (an example of a user of the medical observation apparatus100) observes a surgical site while viewing a medical image captured bythe medical observation apparatus 100 and displayed on the displayscreen of the display device 200 and performs various treatments such asa procedure according to the surgical procedure, onto the surgical site.

FIG. 2 is a view illustrating an example of a configuration of themedical observation apparatus 100 according to the present embodiment.FIG. 2 also illustrates the display device 200.

The medical observation apparatus 100 includes a base 102, an arm 104,and an imaging device unit 106, for example.

Although not illustrated in FIG. 1, the medical observation apparatus100 may include, for example, one or two or more processors (notillustrated) including an arithmetic circuit such as a micro processingunit (MPU), and read only memory (ROM; not illustrated), random accessmemory (RAM; not illustrated), a recording medium (not illustrated), anda communication device (not illustrated). The medical observationapparatus 100 is driven by electric power supplied from an internalpower supply such as a battery included in the medical observationapparatus 100 or by electric power supplied from a connected externalpower supply, for example.

The processor (not illustrated) functions as a control unit describedbelow. The ROM (not illustrated) stores programs used by the processor(not illustrated) and control data such as calculation parameters. TheRAM (not illustrated) temporarily stores a program executed by theprocessor (not illustrated), or the like.

The recording medium (not illustrated) functions as a storage unit (notillustrated) in the medical observation apparatus 100. The recordingmedium (not illustrated) stores various data such as data related to thecontrol method according to the present embodiment and variousapplications. Here, examples of the recording medium (not illustrated)include a magnetic recording medium such as a hard disk, and nonvolatilememory such as flash memory. The recording medium (not illustrated) maybe detachable from the medical observation apparatus 100.

The communication device (not illustrated) is a communication unitincluded in the medical observation apparatus 100 and has a role ofperforming wireless or wired communication with an external device suchas the display device 200. Here, examples of the communication device(not illustrated) include an IEEE 802.15.1 port and atransmission/reception circuit (wireless communication), an IEEE 802.11port and a transmission/reception circuit (wireless communication), acommunication antenna and a radio frequency (RF) circuit (wirelesscommunication), or a local area network (LAN) terminal and atransmission/reception circuit (wired communication).

[1-2-1] Base 102

The base 102 provided as a base of the medical observation apparatus 100is connected to one end of the arm 104 and supports the arm 104 and theimaging device unit 106.

The base 102 includes casters, for example, and the medical observationapparatus 100 is grounded to the floor via the casters. With thepresence of casters, the medical observation apparatus 100 can easilymove on the floor surface by the casters.

[1-2-2] Arm 104

The arm 104 includes a plurality of links connected to each other by ajoint.

The arm 104 supports the imaging device unit 106. The imaging deviceunit 106 supported by the arm 104 can move three-dimensionally, and theposition and posture of the imaging device unit 106 after the move areheld by the arm 104.

More specifically, the arm 104 includes, for example, a plurality ofjoints 110 a, 110 b, 110 c, 110 d, 110 e, and 110 f, and a plurality oflinks 112 a, 112 b, 112 c, 112 d, 112 e, and 112 f mutually pivotablyjoined to each other by the joints 110 a, 110 b, 110 c, 110 d, 110 e,and 110 f. The rotatable range of each of the joints 110 a, 110 b, 110c, 110 d, 110 e, and 110 f is arbitrarily set in a design stage, amanufacturing stage, or the like so as to achieve a desired movement ofthe arm 104.

That is, the medical observation apparatus 100 illustrated in FIG. 1achieves six degrees of freedom concerning the movement of the imagingdevice unit 106 by six rotation axes (a first axis O1, a second axis O2,a third axis O3, a fourth axis O4, a fifth arm O5, and a sixth arm O6)corresponding to the six joints 110 a, 110 b, 110 c, 110 d, 110 e, and110 f, respectively forming the arm 104. More specifically, the medicalobservation apparatus 100 illustrated in FIG. 1 achieves a movement ofsix degrees of freedom, namely, three degrees of freedom of translationand three degrees of freedom of rotation.

Each of the joints 110 a, 110 b, 110 c, 110 d, 110 e, and 110 f includesan actuator (not illustrated), and each of the joints 110 a, 110 b, 110c, 110 d, 110 e, and 110 f rotates around the corresponding rotationaxis by driving of the actuator (not illustrated). The driving of theactuator (not illustrated) is controlled by a processor functioning as acontrol unit described below or by an external medical control apparatus(not illustrated), for example.

Rotation of each of the joints 110 a, 110 b, 110 c, 110 d, 110 e, and110 f on the corresponding rotation axis by driving of the actuator (notillustrated) enables various types of operation of the arm 104, such asextension and contraction (folding) of the arm 104.

The joint 110 a has a substantially columnar shape and supports theimaging device unit 106 (an upper end portion of the imaging device unit106 in FIG. 1) at a distal end portion (lower end portion in FIG. 1) ofthe joint 110 a so that the imaging device unit 106 is pivotable arounda rotation axis (first axis O1) parallel to the central axis of theimaging device unit 106. Here, the medical observation apparatus 100 hasa configuration in which the first axis O1 is aligned with the opticalaxis of the imaging device unit 106. That is, pivoting movement of theimaging device unit 106 about the first axis O1 illustrated in FIG. 1allows a medical image captured by the imaging device unit 106 to be animage that is changed to rotate the visual field.

The link 112 a is a substantially rod-like member, and fixedly supportsthe joint 110 a. The link 112 a extends in a direction orthogonal to thefirst axis O1, for example, and is connected to the joint 110 b.

The joint 110 b has a substantially columnar shape and supports the link112 a so as to be pivotable about a rotation axis (second axis O2)orthogonal to the first axis O1. Moreover, a link 112 b is fixedlyconnected to the joint 110 b.

The link 112 b is a substantially rod-like member and extends in adirection orthogonal to the second axis O2. Moreover, each of the joints110 b and 110 c is connected to the link 112 b.

The joint 110 c has a substantially columnar shape and supports the link112 b so as to be pivotable about a rotation axis (third axis O3)orthogonal to each of the first axis O1 and the second axis O2.Moreover, one end of the link 112 c is fixedly connected to the joint110 c.

Here, pivoting of the distal end side of the arm 104 (the side on whichthe imaging device unit 106 is provided) about the second axis O2 andthe third axis O3 enables the imaging device unit 106 to move so as tochange the position of the imaging device unit 106 in the horizontalplane. That is, the medical observation apparatus 100 controls therotation of the second axis O2 and the rotation about the third axis O3,making it possible to move the visual field of the medical image withina plane.

The link 112 c is a member having a substantially columnar shape on oneend and having a substantially rod-like shape on the other end. Thejoint 110 c is fixedly connected to the one end of the link 112 c suchthat the central axis of the joint 110 c is aligned with the centralaxis of the substantially columnar shape. Furthermore, the joint 110 dis connected to the other end of the link 112 c.

The joint 110 d has a substantially columnar shape and supports the link112 c so as to be pivotable about a rotation axis (a fourth axis O4)orthogonal to the third axis O3. The link 112 d is fixedly connected tothe joint 110 d.

The link 112 d is a substantially rod-like member and extends so as tobe orthogonal to the fourth axis O4. One end of the link 112 d isfixedly connected to the joint 110 d so as to come in contact with thesubstantially columnar side surface of the joint 110 d. Moreover, thejoint 110 e is connected to the other end of the link 112 d (the endopposite to the side to which the joint 110 d is connected).

The joint 110 e has a substantially columnar shape and supports one endof the link 112 d so as to be pivotable about a rotation axis (a fifthaxis O5) parallel to the fourth axis O4. Moreover, the one end of a link112 e is fixedly connected to the joint 110 e.

Here, the fourth axis O4 and the fifth axis O5 are rotation axes thatcan move the imaging device unit 106 in the perpendicular direction.Pivoting of the distal end side of the arm 104 (the side on which theimaging device unit 106 is provided) about the fourth axis O4 and thefifth axis O5 changes the position of the imaging device unit 106 in theperpendicular direction. Accordingly, pivoting of the distal end side ofthe arm 104 (the side on which the imaging device unit 106 is provided)about the fourth axis O4 and the fifth axis O5 makes it possible tochange the distance between the imaging device unit 106 and anobservation target such as a surgical site of a patient.

The link 112 e is a member as a combination of a first member having asubstantially L-shape in which one side extends in the verticaldirection and the other side extends in the horizontal direction and arod-like second member extending vertically downward from a site of thefirst member extending in the horizontal direction. The joint 110 e isfixedly connected to a site of the first member of the link 112 eextending in the vertical direction. Moreover, the joint 110 f isconnected to the second member of the link 112 e.

The joint 110 f has a substantially columnar shape and supports the link112 e so as to be pivotable about a rotation axis (sixth axis O6)parallel to the vertical direction. The link 112 f is fixedly connectedto the joint 110 f.

The link 112 f is a substantially rod-like member extending in thevertical direction. One end of the link 112 f is connected to the joint110 f. The other end of the link 112 f (the end opposite to the side towhich the joint 110 f is connected) is fixedly connected to the base102.

With the arm 104 having the above-described configuration, the medicalobservation apparatus 100 achieves six degrees of freedom regarding themovement of the imaging device unit 106.

Note that the configuration of the arm 104 is not limited to the aboveexample.

For example, each of the joints 110 a, 110 b, 110 c, 110 d, 110 e, and110 f of the arm 104 may include a brake that regulates the rotation ofeach of the joints 110 a, 110 b, 110 c, 110 d, 110 e, and 110 f.Examples of the brake according to the present embodiment include anytypes of brakes, such as a mechanically driven brake and an electricallydriven electromagnetic brake.

The driving of the brake is controlled by a processor functioning as acontrol unit described below, or an external medical control apparatus(not illustrated). The drive control of the brake allows the operationmode of the arm 104 to be set in the medical observation apparatus 100.The operation mode of the arm 104 includes, for example, a fixed modeand a free mode.

Here, the fixed mode according to the present embodiment is an operationmode in which the position and the posture of the imaging device unit106 are fixed by regulation of the rotation of each of rotation axesprovided on the arm 104, by the brake. When the arm 104 turns to thefixed mode, the operation state of the medical observation apparatus 100turns to a fixed state in which the position and the posture of theimaging device unit 106 are fixed.

In addition, the free mode according to the present embodiment is anoperation mode in which each of the rotation axes provided on the arm104 turns into a free rotation state by releasing the brake. Forexample, the free mode enables adjustment of the position and posture ofthe imaging device unit 106 by direct operation of the practitioner.Here, the direct operation according to the present embodiment includes,for example, operation by a practitioner to hold the imaging device unit106 by hand and to directly move the imaging device unit 106.

[1-2-3] Imaging Device Unit 106

The imaging device unit 106 is supported by the arm 104, and captures animage of an observation target such as a surgical site of a patient. Theimaging device unit 106 has a plurality of imaging devices and capturesa medical image for the right eye and a medical image for the left eye.Imaging on the imaging device unit 106 is controlled by a processorfunctioning as a control unit described below, or an external medicalcontrol apparatus (not illustrated).

Each of the imaging devices constituting the imaging device unit 106 hasa configuration corresponding to an electronic imaging microscope, forexample.

FIG. 3 is a view illustrating an example of a configuration of theimaging device unit 106 included in the medical observation apparatus100 according to the present embodiment.

The imaging device unit 106 includes, for example, an imaging member 120and a tubular member 122 having a substantially cylindrical shape. Theimaging member 120 is provided inside the tubular member 122.

For example, a cover glass slip (not illustrated) for protecting theimaging member 120 is provided on an aperture surface of a lower end (alower end in FIG. 3) of the tubular member 122.

Furthermore, for example, a light source (not illustrated) is providedinside the tubular member 122, and illumination light is emitted fromthe light source to a subject through a cover glass slip at the time ofimaging. Reflected light (observation light) from the subject on whichthe illumination light is applied is incident on the imaging member 120via the cover glass slip (not illustrated), whereby an image signalindicating the subject (image signal indicating the medial image) isobtained by the imaging member 120.

The imaging member 120 functions as a plurality of imaging devices. Thenumber of imaging devices included in the imaging member 120 may be two,or three or more. That is, the medical observation apparatus 100includes two imaging devices, or three or more imaging devices. Theimaging directions in the plurality of imaging devices may all bedifferent, or some of the imaging directions may be the same.Furthermore, the imaging direction of each of the plurality of imagingdevices may be fixed or may be changeable.

The configuration used for various known electronic imaging microscopeunits can be applied to the imaging device constituting the imagingmember 120.

As an example, the imaging device that constitutes the imaging member120 includes an optical system 120 a and an image sensor 120 b thatincludes an imaging element that captures an image of an observationtarget using light that has passed through the optical system 120 a, forexample. The optical system 120 a includes optical elements such as oneor two or more lenses including an objective lens, a zoom lens, and afocus lens, and a mirror. Examples of the image sensor 120 b include animage sensor using a plurality of imaging elements, such ascomplementary metal oxide semiconductor (CMOS) and a charge coupleddevice (CCD).

The imaging member 120 having two or more imaging devices including theoptical system 120 a and the image sensor 120 b functions as a stereocamera.

The imaging device constituting the imaging member 120 includes one ortwo or more functions such as a zoom function (one or both of an opticalzoom function and an electronic zoom function) and an auto focus (AF)function, which are typically provided in an electronic imagingmicroscope unit.

The imaging device that constitutes the imaging member 120 may have aconfiguration capable of a so-called high resolution imaging, such as 4Kor 8K. With a configuration in which the imaging device constituting theimaging member 120 is capable of high resolution imaging, it is possibleto display an image on the display device 200 having a large displayscreen of 50 inches or more, for example, while ensuring a predeterminedresolution (full HD image quality, for example). This improves thevisibility of the practitioner as a viewer of the display screen of thedisplay device 200. Furthermore, even when the medical image is enlargedby the electronic zoom function and displayed on the display screen ofthe display device 200, the imaging device included in the imagingmember 120 is capable of imaging at a high resolution, making itpossible to ensure a predetermined resolution. Furthermore, in a casewhere a predetermined resolution is ensured by using the electronic zoomfunction, the performance of the optical zoom function in the imagingdevice unit 106 can be suppressed. Accordingly, it is possible tosimplify the optical system of the imaging device unit 106, leading todownsizing of the imaging device unit 106.

The imaging device unit 106 includes various operation devices forcontrolling the operation of the imaging device unit 106, for example.For example, the imaging device unit 106 in FIG. 3 includes a zoomswitch 124, a focus switch 126, and an operation mode change switch 128.Needless to say, the positions and shapes of the zoom switch 124, thefocus switch 126, and the operation mode change switch 128 are notlimited to the example illustrated in FIG. 3.

The zoom switch 124 and the focus switch 126 are examples of operationdevices for adjusting imaging conditions in the imaging device unit 106.

The zoom switch 124 includes, for example, a zoom-in switch 124 a forincreasing the zoom magnification (magnification magnification) and azoom-out switch 124 b for decreasing the zoom magnification. Operationon the zoom switch 124 can adjust zoom magnification, leading to zoomadjustment.

The focus switch 126 includes, for example, a distant view focus switch126 a that increases the focal length to the observation target(subject) and a near view focus switch 126 b that decreases the focallength to the observation target. Operation on the focus switch 126 canadjust the focal length, leading to focus adjustment.

The operation mode change switch 128 is an example of an operationdevice for changing the operation mode of the arm 104 in the imagingdevice unit 106. Operation on the operation mode change switch 128changes the operation mode of the arm 104. The operation modes of thearm 104 include, for example, the fixed mode and the free mode asdescribed above.

An example of operation on the operation mode change switch 128 isoperation of pressing the operation mode change switch 128. For example,while the practitioner presses the operation mode change switch 128, theoperation mode of the arm 104 is set to the free mode. When thepractitioner is not pressing the operation mode change switch 128, theoperation mode of the arm 104 is set to the fixed mode.

Furthermore, the imaging device unit 106 includes a non-slip member 130and a projection member 132 in order to further enhance operability andconvenience when an operator performs operation on various operationdevices.

The non-slip member 130 is a member provided to prevent the operationbody from slipping when the operator operates the tubular member 122with an operation tool such as a hand. The non-slip member 130 is formedof a material having a large friction coefficient, for example, and hasa slip-resistant structure that is a member with irregularities.

The projection member 132 is a member provided to prevent a situation inwhich an operation tool such as a hand blocks the visual field of theoptical system 120 a when the operator operates the tubular member 122with the operating tool or situation in which contamination of a coverglass slip (not illustrated) when the operation tool comes in contactwith the cover glass slip in performing operation with the operatingtool.

Needless to say, the position and the shape of each of the non-slipmember 130 and the projection member 132 are not limited to the exampleillustrated in FIG. 3. Furthermore, it is allowable that the imagingdevice unit 106 omits one or both of the non-slip member 130 and theprojection member 132.

An image signal (image data) generated by imaging in the imaging deviceunit 106 is transmitted to a processor functioning as a control unitdescribed below, for example, and image processing is performed by theprocessor. The image processing according to the present embodimentcorresponds to one or two or more of various processes such as gammacorrection, white balance adjustment, enlargement or reduction of animage associated with the electronic zoom function, or pixel-to-pixelcorrection. In a case where the medical observation system according tothe present embodiment includes a medical control apparatus (notillustrated) that controls various operations in the medical observationapparatus 100, the image processing according to the present embodimentmay be performed on the medical control apparatus (not illustrated).

The medical observation apparatus 100 transmits a display control signaland an image signal that has undergone the above-described imageprocessing to the display device 200.

Transmission of the display control signal and the image signal to thedisplay device 200 allows a medical image obtained by capturing anobservation target (for example, a captured image in which the surgicalsite is captured) to be displayed on the display screen of the displaydevice 200 in a state of being enlarged or reduced to a desiredmagnification by one or both of the optical zoom function and theelectronic zoom function.

Note that the configuration of the imaging device unit 106 is notlimited to the above example.

For example, the imaging device unit 106 may include an adjustmentmechanism that adjusts an inward angle (described below). An example ofthe adjustment mechanism will be described below.

The medical observation apparatus 100 has a hardware configurationillustrated with reference to FIGS. 2 and 3.

Note that the hardware configuration of the medical observationapparatus according to the present embodiment is not limited to theconfiguration illustrated with reference to FIGS. 2 and 3.

For example, the medical observation apparatus according to the presentembodiment may have a configuration without the base 102 and capable ofmounting the arm 104 directly onto a ceiling or a wall surface of thesurgical room or the like. For example, in a case where the arm 104 isattached to the ceiling, the medical observation apparatus according tothe present embodiment would have a configuration in which the arm 104is hung from the ceiling.

FIG. 2 illustrates an example in which the arm 104 achieves six degreesof freedom concerning driving the imaging device unit 106. However, theconfiguration of the arm 104 is not limited to the configuration inwhich the freedom concerning the driving of the imaging device unit 106is six degrees of freedom. For example, it is sufficient as long as thearm 104 is capable of appropriately moving the imaging device unit 106according to the application. The number and arrangement of the jointsand the links, the direction of the drive shaft of the joints, or thelike can be appropriately set so that the arm 104 can have the desireddegree of freedom.

FIGS. 2 and 3 illustrate examples in which various operation devices forcontrolling the operation of the imaging device unit 106 are provided inthe imaging device unit 106. Some or all of the operation devicesillustrated in FIGS. 2 and 3 may be omitted from the imaging device unit106. For example, various operation devices for controlling theoperation of the imaging device unit 106 may be provided in a site otherthan the imaging device unit 106 included in the medical observationapparatus according to the present embodiment. Furthermore, as anotherexample, various operation devices for controlling the operation of theimaging device unit 106 may be external operation devices such as a footswitch and a remote controller.

Next, the medical observation apparatus 100 illustrated in FIG. 2 willbe described using functional blocks. FIG. 4 is a functional blockdiagram illustrating an example of a configuration of the medicalobservation apparatus 100 according to the present embodiment.

The medical observation apparatus 100 includes, for example, an arm unit152, an imaging unit 154, a communication unit 156, and a control unit158.

The arm unit 152 includes the arm 104 and supports the imaging deviceunit 106 included in the imaging unit 154.

The imaging unit 154 includes the imaging device unit 106 and images anobservation target. The imaging on the imaging unit 154 is controlled bythe control unit 158, for example.

The communication unit 156 is a communication unit included in themedical observation apparatus 100 and has a role of performing wirelessor wired communication with an external device such as the displaydevice 200. The communication unit 156 includes the above-describedcommunication device (not illustrated), for example. Communication inthe communication unit 156 is controlled by the control unit 158, forexample.

The control unit 158 includes the above-described processor (notillustrated), for example, and has a role of controlling the entiremedical observation apparatus 100. Furthermore, the control unit 158plays a leading role in performing a process related to a control methoddescribed below. Note that the process related to the control method inthe control unit 158 may be performed in a distributed manner by aplurality of processing circuits (for example, a plurality ofprocessors).

More specifically, the control unit 158 includes, for example, animaging control unit 160, an arm control unit 162, and a display controlunit 164.

The imaging control unit 160 has a role of performing an imaging controlprocess according to a control method described below and controls theimaging device unit 106 included in the imaging unit 154. The control inthe imaging control unit 160 includes, for example, “control to achievea match between an inward angle (described below) and a convergenceangle (described below)” according to the control method describedbelow.

In addition, concerning the control of the imaging device unit 106, theimaging control unit 160 can control one or two or more functionsprovided in an ordinary electronic microscope unit, such as control of azoom function (one or both of an optical zoom function and an electroniczoom function) and control of an AF function, for example.

The arm control unit 162 controls driving of the arm 104 included in thearm unit 152. An example of the drive control of the arm 104 includes“applying a control signal for controlling the drive to the actuators(not illustrated) corresponding to each of the “joints 110 a, 110 b, 110c, 110 d, 110 e, and 110 f”.

The display control unit 164 has a role of performing a display controlprocess according to a control method described below and controlsdisplay of a medical image on the display device 200.

The display control unit 164 transmits a display control signal and animage signal to a communication device (not illustrated) included in thecommunication unit 156, for example, so as to transmit the displaycontrol signal and the image signal to the display device 200, therebycontrols the display on the display device 200. Note that communicationcontrol in the communication unit 156 may be performed by acommunication control unit (not illustrated) included in the controlunit 158.

The control unit 158 includes the imaging control unit 160 and thedisplay control unit 164, for example, and thereby plays a leading rolein performing processing according to the control method of the presentembodiment. In addition, the control unit 158 includes the imagingcontrol unit 160, the arm control unit 162, and the display control unit164, for example, and thereby plays a roll of controlling the entiremedical observation apparatus 100.

Note that the configuration of the control unit 158 is not limited tothe example illustrated in FIG. 4.

For example, the control unit 158 can have an arbitrary configurationaccording to the method of dividing the functions of the medicalobservation apparatus 100, such as a configuration according to themethod of dividing the process according to the control method of thepresent embodiment.

The medical observation apparatus 100 performs a process according to acontrol method of the present embodiment, which will be described below,with the configuration illustrated in FIG. 4, for example.

Note that the configuration of the medical observation apparatusaccording to the present embodiment is not limited to the configurationillustrated in FIG. 4.

For example, the medical observation apparatus according to the presentembodiment can implement a part or all of the imaging control unit 160,the arm control unit 162, and the display control unit 164 illustratedin FIG. 4 separately from the control unit 158 (for example, usinganother processing circuit).

Furthermore, the configuration for implementing the process according tothe control method of the present embodiment in the medical observationapparatus according to the present embodiment is not limited to theconfiguration illustrated in FIG. 4. For example, the medicalobservation apparatus according to the present embodiment can have aconfiguration according to the method of dividing the process accordingto the control method of the present embodiment.

Furthermore, for example, in a case of performing communication with anexternal device via an external communication device having a functionand configuration similar to those of the communication unit 156, themedical observation apparatus according to the present embodiment mayomit the communication unit 156.

Furthermore, in a case where the medical observation system according tothe present embodiment has a configuration including a medical controlapparatus (not illustrated) and the medical observation apparatusaccording to the present embodiment is controlled by the medical controlapparatus (not illustrated), the medical observation apparatus accordingto the present embodiment may omit the control unit 158.

Here, the medical control apparatus (not illustrated) includes a controlunit having the function and configuration similar to those of thecontrol unit 158, and thereby performs a process according to a controlmethod of the present embodiment described below and controls theoperation of individual components such as the arm unit 152 and theimaging unit 154 included in the medical observation apparatus accordingto the present embodiment. The medical control apparatus (notillustrated) communicates with the medical observation apparatusaccording to the present embodiment via an internal communicationdevice, or an external communication device connected to the apparatus,and thereby controls operation of individual components included in themedical observation apparatus according to the present embodiment.

Furthermore, in a case where the medical observation system according tothe present embodiment has a configuration including a medical controlapparatus (not illustrated) and the medical observation apparatusaccording to the present embodiment is controlled by the medical controlapparatus (not illustrated), the medical observation apparatus accordingto the present embodiment may partially omit the functions of thecontrol unit 158.

[2] Control Method According to the Present Embodiment

Next, processes according to the control method of the presentembodiment will be described. Hereinafter, the processes according tothe control method of the present embodiment will be described using anexemplary case where the processes are performed by the medicalobservation apparatus 100 (more specifically, the control unit 158included in the medical observation apparatus 100, for example). Asdescribed above, in the medical observation system according to thepresent embodiment, the processes according to the control method of thepresent embodiment may be performed by a medical control apparatus (notillustrated).

[2-1] Outline of Control Method According to the Present Embodiment

As described above, in a case where a plurality of display devices isarranged at the surgical operation field, the convergence angle variesfor each of display devices due to various factors such as the locationof the display device and the size of the display screen. Furthermore,along with the convergence angle changing for each of display devices,the inward angle for reproducing a natural three-dimensional effect withless fatigue also changes for each of the display devices.

The convergence angle according to the present embodiment is “an angleformed between the right eye and the left eye of a person viewing adisplay screen on which a medical image for the right eye and a medicalimage for the left eye are displayed”. The convergence angle correspondsto “an angle formed between the line of sight of the right eye and theline of sight of the left eye when a certain position on the displayscreen is in focus”, for example. The convergence angle corresponding tothe display device 200 can be estimated from a representative value (forexample, an average value) of human's interocular distance and a setvalue of the distance between the viewer of the display screen and thedisplay screen (hereinafter, sometimes referred to as “viewingdistance”. Hereinafter, a case where the convergence angle correspondingto the display device 200 is set in advance for each of display deviceswill be described as an example. Note that the convergence anglecorresponding to the display device 200 may be set to a valuecorresponding to a specific person on the basis of an interoculardistance value set for a specific person and a detection result of adistance (viewing distance) between the specific person and the displayscreen detected by a distance sensor or the like.

The inward angle according to the present embodiment is “an angle formedby an imaging direction in an imaging device that captures a medicalimage for the right eye and an imaging direction in an imaging devicethat captures a medical image for the left eye”. Hereinafter, an imagingdevice that captures the medical image for the right eye is referred toas a “first imaging device”, and an imaging device that captures themedical image for the left eye is referred to as a “second imagingdevice”.

FIG. 5 is a view illustrating the control method according to thepresent embodiment. A of FIG. 5 conceptually illustrates a convergenceangle, and B of FIG. 5 conceptually illustrates an inward angle. C ofFIG. 5 illustrates the relationship between the display device size, theviewing distance, the convergence angle, and the desired inward angle ina case where the interocular distance is assumed to be 65 [mm].

As described above, the greater the difference between the inward angleand the convergence angle, the more the viewer of the medical imagedisplayed on the display screen feels that the image is a flat imagewith no stereoscopic effect or that the image is a distorted image withan excessive three-dimensional effect. More specifically, the greaterthe difference between the inward angle and the convergence angle, themore the perception in the depth direction changes. In addition, thegreater the viewing distance, the greater the sense of depth perceived.

Therefore, it is desirable to achieve a match between the inward angleand the convergence angle in order to give a more naturalthree-dimensional effect to the viewer of the medical image displayed onthe display screen of the display device 200. When a match between theinward angle and the convergence angle is achieved, it is possible toachieve a more precise view with respect to the horizontal direction andthe depth direction, enabling acquisition of a more naturalthree-dimensional effect.

Therefore, the medical observation apparatus 100 controls the imaging inthe imaging device included in the imaging device unit 106 such that theinward angle is adjusted corresponding to a display device such as thedisplay device 200 that displays the medical image for the right eye andthe medical image for the left eye. That is, the medical observationapparatus 100 adjusts the inward angle to the inward angle correspondingto the display device that displays the medical image for the right eyeand the medical image for the left eye.

The medical observation apparatus 100 adjusts the inward angle on thebasis of the convergence angle. More specifically, the medicalobservation apparatus 100 changes a baseline length between the firstimaging device and the second imaging device and thereby adjusts theinward angle to the convergence angle corresponding to the displaydevice 200 that displays the medical image for the right eye and themedical image for the left eye on the display screen. Hereinafter, themedical image for the right eye and the medical image for the left eyewill be collectively referred to as a “stereoscopic image” or simply asa “medical image” in some cases.

As described above, adjusting the inward angle to the convergence anglecorresponding to the display device 200 that displays the medical imageenables the medical observation apparatus 100 to obtain a medical imagethat can give a more natural three-dimensional effect. In other words,the medical observation apparatus 100 adjusts the inward angle to theconvergence angle corresponding to the display device 200 that displaysthe medical image, and thereby further optimizes imaging of each of themedical image for the right eye and the medical image for the left eye,that is, the imaging for obtaining a stereoscopic image.

Acquisition of a medical image that gives a more naturalthree-dimensional effect enables a viewer of the display screen on whichthe medical image is displayed to feel a more natural three-dimensionaleffect. Furthermore, feeling a more natural three-dimensional effectleads to a reduction in fatigue when viewing a stereoscopic image.

[2-2] Processing According to Control Method of the Present Embodiment

Next, the processes according to the control method of the presentembodiment will be described more specifically.

The medical observation apparatus 100 performs, for example, an imagingcontrol process illustrated in the following (1) and a display controlprocess illustrated in the following (2) as processes according to thecontrol method of the present embodiment.

Note that the processing according to the control method of the presentembodiment is not limited to the example described above. For example,the medical observation apparatus 100 need not perform the displaycontrol process illustrated in (2) below and may allow the displaycontrol process to be performed by an external device. Even in a casewhere the medical observation apparatus 100 does not perform the displaycontrol process illustrated in (2) below, the medical observationapparatus 100 can obtain a medical image with a more naturalthree-dimensional effect.

Furthermore, adjustment of the inward angle to the convergence anglecorresponding to the display device 200 that displays the medical imagecan also be achieved by mounting an adapter (that is, an external deviceof the medical observation apparatus 100) on the imaging device unit106, for example. In a case where the inward angle is adjusted to theconvergence angle corresponding to the display device 200 by theadapter, the medical observation apparatus 100 need not perform theimaging control process illustrated in (1) below.

FIG. 6 is a view illustrating an example of an adapter according to thepresent embodiment that can adjust an inward angle to a convergenceangle corresponding to the display device 200. An adapter AD1illustrated in A of FIG. 6 illustrates an example of an adaptercorresponding to a display device 200A illustrated in FIG. 1. An adapterAD2 illustrated in B of FIG. 6 illustrates an example of an adaptercorresponding to a display device 200B illustrated in FIG. 1. Needlessto say, examples of the adapter according to the present embodiment arenot limited to the example illustrated in FIG. 6.

For example, mounting an adapter corresponding to each of the displaydevices 200 as illustrated in FIG. 6 on the imaging device unit 106enables a viewer of the display screen of the display device 200corresponding to the mounted adapter to feel a more naturalthree-dimensional effect.

(1) Imaging Control Process

As described above, the medical observation apparatus 100 adjusts theinward angle to the inward angle corresponding to the display device 200that displays a medical image (an example of a display device thatdisplays a medical image for the right eye and a medical image for theleft eye). More specifically, the medical observation apparatus 100changes the baseline length between the first imaging device and thesecond imaging device, and thereby adjusts the inward angle to theconvergence angle corresponding to the display device 200 that displaysa medical image. The imaging control process is performed by the imagingcontrol unit 160 illustrated in FIG. 4, for example.

In other words, the medical observation apparatus 100 sets theconvergence angle corresponding to the display device 200 that displaysthe medical image for the right eye and the medical image for the lefteye and adjusts the inward angle to achieve a match with the setconvergence angle.

The medical observation apparatus 100 refers to “a table (or a database,similar applies hereinafter) associating data specifying the displaydevice 200 (for example, ID of the display device 200) stored in arecording medium that functions as a storage unit (not illustrated) withdata indicating a convergence angle”, for example, and thereby sets theconvergence angle corresponding to the display device 200 that displaysthe medical image. Setting of the display device 200 that displays amedical image is performed at an arbitrary timing such as a timing ofinstallation of the display device 200 by operation on an operationdevice such as a remote controller. Registration of data to the tableand alteration and deletion of various types of data stored in the tablecan be appropriately performed by operation on an operation device suchas a remote controller.

Note that the method of setting the convergence angle corresponding tothe display device 200 is not limited to the above example. For example,the medical observation apparatus 100 may use an arbitrary algorithmthat can uniquely determine a convergence angle on the basis of dataspecifying the display device 200 that displays a medical image and maythereby set a convergence angle corresponding to the display device 200that displays a medical image.

The processes of adjusting the inward angle to the convergence anglecorresponding to the display device 200 that displays the medical imageinclude an imaging control process according to a first exampleillustrated in (1-1) below, and an imaging control process according toa second example illustrated in (1-2) below.

(1-1) First Example of Imaging Control Processing

The medical observation apparatus 100 controls the adjustment mechanismfor adjusting the inward angle to adjust the inward angle and therebyachieves a match between the inward angle and the convergence angle. Asdescribed above, the medical observation apparatus 100 adjusts theinward angle to correspond to the display device 200.

The adjustment mechanism is provided in the imaging device unit 106, forexample, as described above.

Examples of the adjustment mechanism include a movement mechanism(hereinafter, referred to as a “first movement mechanism”) capable ofmoving one or both of the first imaging device and the second imagingdevice. The first movement mechanism drives one or both of a motor thatmoves the first imaging device and a motor that moves the second imagingdevice to move one or both of the first imaging device and the secondimaging device. Note that the first movement mechanism is not limited tothe example described above and may have any configuration capable ofmoving the imaging device.

The medical observation apparatus 100 controls the movement of one orboth of the first imaging device and the second imaging device performedby the first movement mechanism and thereby adjusts the inward angle.The medical observation apparatus 100 outputs a drive control signal forcontrolling the drive of the first movement mechanism to the firstmovement mechanism, for example, and thereby adjusts the inward angle.An example of the drive control signal is a signal of any format forcontrolling the rotation direction and the rotation amount of each ofthe motors included in the first movement mechanism.

Another example of the adjustment mechanism is a movement mechanism(hereinafter referred to as a second movement mechanism) that can changeone or both of the imaging direction of the first imaging device and theimaging direction of the second imaging device by moving the opticalsystem. The second movement mechanism includes a mirror (an example ofan optical system) corresponding to each of the first imaging device andthe second imaging device, and a motor that moves each of the mirrors,for example. The second movement mechanism moves one or both of theimaging direction of the first imaging device and the imaging directionof the second imaging device by driving each of the motors correspondingto the mirror. The second movement mechanism is not limited to theexample described above. For example, the second movement mechanism mayhave a “configuration including a prism (another example of an opticalsystem) corresponding to each of the first imaging device and the secondimaging device, and a motor that moves each of the prisms”

The medical observation apparatus 100 controls the movement of theoptical system performed by the second movement mechanism and therebyadjusts the inward angle. The medical observation apparatus 100 outputsa drive control signal for controlling the driving of the secondmovement mechanism to the second movement mechanism and thereby adjuststhe inward angle, for example. An example of the drive control signal isa signal of any format for controlling the rotation direction and therotation amount of each of the motors included in the second movementmechanism.

FIG. 7 is a view illustrating an example of a configuration of theadjustment mechanism according to the present embodiment. A of FIG. 7illustrates an example of the first movement mechanism, that is, anexample of a “zoom system shift-type adjustment mechanism that moves oneor both of a first imaging device C1 and a second imaging device C2 withrespect to a zoom lens shared by the first imaging device C1 and thesecond imaging device C2 and thereby adjusts the inward angle”. B ofFIG. 7 illustrates another example of the first movement mechanism, thatis, an example of an “adjustment mechanism that changes the position ofone or both of the first imaging device C1 and the second imaging deviceC2 and thereby adjusts the inward angle”. C of FIG. 7 illustrates anexample of the second movement mechanism, that is, an example of “amirror moving adjustment mechanism that adjusts an inward angle bymoving a mirror”.

Needless to say, examples of the configuration of the adjustmentmechanism are not limited to the example illustrated in FIG. 7.

(1-2) Second Example of Imaging Control Process

As described above, the medical observation apparatus 100 has aconfiguration including three or more imaging devices having differentimaging directions in some cases. In this case, the medical observationapparatus 100 selects the first imaging device and the second imagingdevice from three or more imaging devices having different imagingdirections and thereby achieves a match between the inward angle and theconvergence angle. The medical observation apparatus 100 selects thefirst imaging device and the second imaging device so as to correspondto the display device 200 and thereby adjusts the inward angle so as tocorrespond to the display device 200.

In the imaging control process according to the second example, theinward angle is adjusted by selecting the first imaging device and thesecond imaging device. Therefore, the imaging device unit 106 does notneed to include an adjustment mechanism. That is, the imaging controlprocess according to the second example can adjust the inward angle inthe medical observation apparatus 100 in which the imaging device unit106 includes no adjustment mechanism. Note that the imaging controlprocess according to the second example can also be applied to themedical observation apparatus 100 in which the imaging device unit 106includes an adjustment mechanism.

The medical observation apparatus 100 selects a first imaging device anda second imaging device from three or more imaging devices arranged on asame plane.

Examples in which the medical observation apparatus 100 selects thefirst imaging device and the second imaging device include a firstselection example illustrated in the following (a), and a secondselection example illustrated in the following (b). Needless to say,examples in which the medical observation apparatus 100 selects thefirst imaging device and the second imaging device are not limited tothe first selection example illustrated in (a) below and the secondselection example illustrated in (b) below.

(a) First Selection Example

For example, in a case where three or more imaging devices are arrangedon one plane, the medical observation apparatus 100 selects two imagingdevices from the three or more imaging devices arranged on the plane.The two selected imaging devices will be the first imaging device andthe second imaging device.

FIG. 8 is a view illustrating an example of an imaging control processaccording to the control method of the present embodiment, illustratingan example of imaging control process according to a second example in acase where the imaging device unit 106 includes three imaging devicesC1, C2, and C3. A of FIG. 8 conceptually illustrates arrangement of theimaging devices C1, C2, and C3, that is, “arrangement of the imagingdevices C1, C2, and C3 when viewed from the aperture surface side of thelower end (an end of lower side in FIG. 3) of the tubular member 122illustrated in FIG. 3”. B of FIG. 8 illustrates a state before the firstimaging device and the second imaging device are selected from theimaging devices C1, C2, and C3. Each of C of FIG. 8 and D of FIG. 8illustrates a state after the first imaging device and the secondimaging device are selected from the imaging devices C1, C2, and C3.

As illustrated in C of FIG. 8 and D of FIG. 8, the inward angle variesdepending on the method of selecting two imaging devices from theimaging devices C1, C2, and C3. Therefore, the medical observationapparatus 100 selects the first imaging device and the second imagingdevice from the three imaging devices C1, C2, and C3 arranged on thesame plane, thereby achieving a match between the inward angle andconvergence angle.

Note that, even in a case where the imaging device unit 106 has four ormore imaging devices, and the four or more imaging devices are disposedon one plane, the medical observation apparatus 100 can achieve a matchbetween the inward angle and the convergence angle similarly to the casedescribed with reference to FIG. 8.

Furthermore, an example of selecting an imaging device in a case wherethe imaging device unit 106 has three or more imaging devices is notlimited to the example illustrated in FIG. 8. For example, the medicalobservation apparatus 100 can select one imaging device from three ormore imaging devices arranged on the same plane.

FIG. 9 is a view illustrating an example of an imaging control processaccording to the control method of the present embodiment, illustratinganother example of selecting the imaging device in a case where theimaging device unit 106 includes three imaging devices C1, C2, and C3. Aof FIG. 9 conceptually illustrates the arrangement of the imagingdevices C1, C2, and C3, similarly to A of FIG. 8. B of FIG. 9illustrates a state before an imaging device is selected from theimaging devices C1, C2, and C3. Each of C of FIG. 9 and D of FIG. 9illustrates a state after an imaging device is selected from the imagingdevices C1, C2, and C3.

As illustrated in C of FIG. 9 and D of FIG. 9, the medical observationapparatus 100 can select one or two imaging devices from three imagingdevices C1, C2, and C3. As illustrated in C of FIG. 9 and D of FIG. 9,in a case where the medical observation apparatus 100 can switch thenumber of imaging devices to be selected, for example, it is possible toimplement switching between imaging in wide angle view (overhead view)by one imaging device and imaging of a stereoscopic image by two imagingdevices. Furthermore, at the time of imaging of the stereoscopic imageusing two imaging devices, enlargement by optical zoom or electroniczoom may be further performed.

The number of imaging devices selected by the medical observationapparatus 100 is switched by operation on an operation device such as aremote controller or a foot switch.

Note that even in a case where the imaging device unit 106 has four ormore imaging devices, and the four or more imaging devices are disposedon one plane, the medical observation apparatus 100 can switch thenumber of imaging devices to be selected similarly to the case describedwith reference to FIG. 9.

(b) Second Selection Example

An example of the arrangement of the plurality of imaging devices in theimaging device unit 106 is not limited to the example of arrangement onone plane as illustrated in FIGS. 8 and 9. For example, in the imagingdevice unit 106, a plurality of imaging devices may be arranged on eachof a first plane and a second plane orthogonal to the first plane. Thatis, in the imaging device unit 106, a plurality of imaging devices canbe arranged perpendicularly to each other.

Here, the significance (the significance of perpendicular arrangement)of arranging a plurality of imaging devices on each of the first planeand the second plane will be described.

FIGS. 10 to 12 are views illustrating the significance of arranging aplurality of imaging devices on each of the first plane and the secondplane according to the present embodiment.

FIG. 10 is a view mainly illustrating a surgical operation field wherethe medical observation system 1000 illustrated in FIG. 1 is usedfocusing on a practitioner P1 (an example of a medical worker). Thepractitioner P1 performs a medical practice while viewing a medicalimage displayed on the display device 200A, for example.

FIG. 11 is a view mainly illustrating a surgical operation field wherethe medical observation system 1000 illustrated in FIG. 1 is usedfocusing on an assistant P2 (another example of a medical worker). Theassistant P2 performs a medical practice while viewing a medical imagedisplayed on a display device 200C, for example.

FIG. 12 illustrates an example of selecting an imaging device in a casewhere the imaging device unit 106 has four imaging devices C1, C2, C3,and C4. A of FIG. 12 conceptually illustrates the arrangement of theimaging devices C1, C2, C3, and C4, similarly to A in FIG. 8. In FIG.12, the imaging devices C1 and C2 are arranged on the first plane (or onthe second plane), and the imaging devices C3 and C4 are arranged on thesecond plane (or on the first plane). B of FIG. 12 illustrates a statebefore an imaging device is selected from the imaging devices C1, C2,C3, and C4. In addition, each of C in FIG. 12 and D in FIG. 12illustrates a state after an imaging device is selected from the imagingdevices C1, C2, C3, and C4.

For example, as illustrated in FIGS. 10 and 11, in a case where theassistant P2 performs a medical practice in a position perpendicular tothe practitioner P1, the imaging direction of an imaging device thatcaptures a medical image for the practitioner P1 is perpendicular to thefront direction of the assistant P1. In this case, this makes itdifficult to achieve communication using good hand-eye coordinationbetween the assistant P2 and the practitioner P1. As one method forreducing the difficulty in achieving such communication using goodhand-eye coordination, there is considered to, as illustrated in FIGS.10 and 11, “set the aspect ratio of the display screen of the displaydevice 200C for the assistant P2 opposite to the aspect ratio of thedisplay screen of the display device 200A for the practitioner P1.”However, simply setting the aspect ratio of the display screen of thedisplay device 200C for the assistant P2 opposite to the aspect ratio ofthe display screen of the display device 200A for the practitioner P1would not achieve display of the stereoscopic image on the displaydevice 200C.

Therefore, in the medical observation apparatus 100, as illustrated in Aof FIG. 12, the imaging devices C1 and C2 are disposed on the firstplane (or on the second plane), and the imaging devices C3 and C4 aredisposed on the second plane (or on the first plane).

In addition, as illustrated in C of FIG. 12, the medical observationapparatus 100 selects the imaging devices C1 and C2 as the imagingdevices that capture the medical image to be displayed on the displayscreen of the display device 200A for the practitioner P1. Furthermore,as illustrated in E of FIG. 12, the medical observation apparatus 100selects the imaging devices C3 and C4 as the imaging devices thatcapture the medical image to be displayed on the display screen of thedisplay device 200C for the assistant P2.

For example, selecting the imaging devices as illustrated in FIG. 12enables each of the practitioner P1 and the assistant P2 to view astereoscopic image that has captured the same position.

Here, in a case where the four imaging devices C1, C2, C3, and C4 arearranged in the imaging device unit 106 as illustrated in FIG. 12 andthe imaging device unit 106 includes an adjustment mechanism, it ispossible to adjust the inward angle so as to correspond to the displaydevice 200 by the imaging control process according to the first exampledescribed above.

However, in a case where the imaging device unit 106 does not includethe adjustment mechanism, the inward angle cannot be adjusted by theimaging control process according to the first example described above.

Therefore, the medical observation apparatus 100 further performs theprocess according to the first selection example illustrated in (a)above to adjust the inward angle by the imaging control processaccording to the second example.

More specifically, in the imaging device unit 106 included in themedical observation apparatus 100 to which the process according to thefirst selection example is further applied, three or more imagingdevices are arranged on the first plane, and three or more imagingdevices are arranged on the second plane. Here, a part of the imagingdevice arranged on the first plane may be an imaging device arranged onthe second plane. That is, the medical observation apparatus 100 towhich the process according to the first selection example is furtherapplied includes at least five imaging devices.

Then, the medical observation apparatus 100 selects the first imagingdevice and the second image device from three or more imaging devicesarranged on the first plane, or three or more imaging devices arrangedon the second plane.

FIG. 13 is a view illustrating an example of an imaging control processaccording to the control method of the present embodiment, illustratingan example of selecting the imaging device in a case where the imagingdevice unit 106 includes five imaging devices C1, C2, C3, C4, and C5. Aof FIG. 13 conceptually illustrates the arrangement of the imagingdevices C1, C2, C3, C4, and C5, similarly to A of FIG. 8. B of FIG. 13illustrates a state before an imaging device is selected from theimaging devices C1, C2, C3, C4, and C5. In addition, each of C of FIG.13 and D of FIG. 13 illustrates a state after an imaging device isselected from the imaging devices C1, C2, C3, C4, and C5.

For example, as illustrated in C of FIG. 13, in a case of obtaining amedical image to be displayed on the display device 200A for thepractitioner P1, two imaging devices are selected from the imagingdevices C1, C2, and C3 arranged on the first plane (or the second plane)Moreover, as illustrated in D of FIG. 13, in a case of obtaining amedical image to be displayed on the display device 200C for theassistant P2, for example, two imaging devices are selected from thedevices C4, C2, and C5 arranged on the second plane (or the firstplane). For example, as illustrated in C of FIG. 13 and D of FIG. 13,two image devices are selected from three or more imaging devicesarranged on the first plane, or from three or more imaging devicesarranged on the second plane, whereby achieving a match between theinward angle and the convergence angle similarly to the case where theprocess according to the first selection example illustrated in (a) isperformed.

Although FIG. 13 illustrates an example in which the imaging device unit106 includes five imaging devices, it is needless to say that the numberof imaging devices included in the imaging device unit 106 is notlimited to five. Moreover, for example, as illustrated with reference toFIG. 9, the medical observation apparatus 100 is also capable ofselecting one imaging device from three or more imaging devices arrangedon the first plane or three or more imaging devices arranged on thesecond plane.

(2) Display Control Process

The medical observation apparatus 100 controls to display a medicalimage (a medical image for the right eye and a medical image for theleft eye) captured by the imaging device unit 106 on a display screen ofa predetermined display device 200. The display control process isperformed by the display control unit 164 illustrated in FIG. 4, forexample.

The medical observation apparatus 100 transmits a display control signaland an image signal indicating a medical image to the predetermineddisplay device 200 and thereby controls to display a medical image onthe display screen of the predetermined display device 200, for example.Note that, as described above, the medical observation apparatus 100 mayperform image processing on the medical image and may transmit the imagesignal that has undergone the image processing to the predetermineddisplay device 200.

Examples of the predetermined display device 200 include the displaydevice 200 corresponding to the adjustment of the inward angle in thefirst imaging control process illustrated in the above (1), or thedisplay device 200 corresponding to the selection of the imaging devicein the second imaging control process illustrated in the above (1).

(2-1) First Example of Display Control Process: Example of DisplayControl Process in a Case where First Imaging Control Process isPerformed

In a case where the first imaging control process illustrated in theabove (1) is performed, the medical observation apparatus 100 controlsto display the medical image captured after the inward angle has beenadjusted (the medical image for the right eye and the medical image forthe left eye) on the display screen of the predetermined display device200, for example.

Note that the medical observation apparatus 100 can control to display amedical image captured before the inward angle is adjusted in the firstimaging control process illustrated in above-described (1) on a displayscreen of a predetermined display device 200. Furthermore, the medicalobservation apparatus 100 can control to display a medical imagecaptured while the inward angle is being adjusted in the first imagingcontrol process illustrated in the above-described (1) on a displayscreen of a predetermined display device 200.

(2-2) Second Example of Display Control Process: Example of DisplayControl Process in a Case where Second Imaging Control Process isPerformed

In a case where the second imaging control process illustrated in theabove-described (1) is performed, the medical observation apparatus 100controls to display the medical image for the right eye captured by theselected first imaging device and the medical image for the left eyecaptured by the selected second medical imaging device on a displayscreen of a predetermined display device 200.

Note that the display control process according to the second example isnot limited to the example described above.

For example, the medical observation apparatus 100 may selectivelyperform a rotation process of rotating the medical image for the righteye and the medical image for the left eye so as to correspond to thepredetermined display device 200.

The medical observation apparatus 100 determines whether to perform therotation process for each of the predetermined display devices 200, forexample, and thereby selectively performs the rotation process. Themedical observation apparatus 100 determines whether to perform therotation process with reference to “a table (or a database) associatingdata specifying the display device 200 (for example, the ID of thedisplay device 200)” stored in a recording medium that functions as astorage unit (not illustrated) with data (a flag, for example)indicating whether to perform the rotation process, for example. Themedical observation apparatus 100 may determine whether to perform therotation process by an arbitrary algorithm capable of determiningwhether to perform the rotation process on the basis of the data thatspecifies the display device 200 that displays the medical image.

Accordingly, the medical observation apparatus 100 controls to displaythe medical image for the right eye and the medical image for the lefteye that have undergone selective rotation process on the display screenof the predetermined display device 200.

Furthermore, the medical observation apparatus 100 may selectivelyperform a clipping process of clipping a part of the medical image forthe right eye or a part of the medical image for the left eye so as tocorrespond to the predetermined display device 200, for example.

The medical observation apparatus 100 determines whether to perform theclipping process for each of the predetermined display devices 200, forexample, and thereby selectively performs the clipping process. Themedical observation apparatus 100 determines whether to perform theclipping process with reference to “a table (or a database) associatingdata specifying the display device 200 (for example, the ID of thedisplay device 200) stored in a recording medium that functions as astorage unit (not illustrated) with data (a flag, for example)indicating whether to perform the clipping process”, for example. Themedical observation apparatus 100 may determine whether to perform theclipping process by an arbitrary algorithm capable of determiningwhether to perform the clipping process on the basis of the data thatspecifies the display device 200 that displays the medical image.

FIG. 14 is a view illustrating an example of the display control processaccording to the present embodiment. A of FIG. 14 conceptuallyillustrates arrangement of the imaging devices C1, C2, C3, C4, and C5,and the arrangement of the imaging devices C1, C2, C3, C4, and C5 is thesame as A of FIG. 13. B of FIG. 14 illustrates a state before theimaging device is selected from the imaging devices C1, C2, C3, C4, andC5, and the state before the imaging device is selected is the same as Bin FIG. 13. C of FIG. 14 conceptually illustrates a relationship betweenthe imaging devices C1, C2, C3, C4, and C5, the medical image displayedon the display screen of the display device 200A for the practitionerP1, and the medical image displayed on the display screen of the displaydevice 200C for the assistant P2. In FIG. 14, the medical image for theright eye is indicated as “image for right eye”, and the medical imagefor the left eye is indicated as “image for left eye”.

As illustrated in FIG. 14, the imaging device C2 is an imaging devicearranged on the first plane, being an imaging device arranged on thesecond plane at the same time. Furthermore, as illustrated in C of FIG.14, the horizontal axis of the imaging device C2 is orthogonal to thehorizontal axis of each of the imaging devices C4 and C5. Therefore, ina case where the medical image captured by the imaging device C2 isdirectly displayed on the display screen of the display device 200C, thedisplayed medical image is not be recognized as a stereoscopic image.Therefore, in the case of displaying the medical image captured by theimaging device C2 on the display screen of the display device 200C,there is a need to perform the rotation process on the medical imagecaptured by the imaging device C2 in order to achieve a match withrespect to the medical image captured by the imaging devices C4 and C5.

In addition, a medical image captured by an imaging device is typicallya horizontally long image (the number of pixels in the horizontaldirection is larger than the number of pixels in the verticaldirection). Therefore, even when rotation process is performed on themedical image captured by the imaging device C2, the displayed medicalimage might not be recognized as a stereoscopic image.

Therefore, in the example illustrated in FIG. 14, “in a case where themedical image captured by the imaging device C2 is displayed as amedical image for the right eye and the medical image captured by theimaging device C5 is displayed as a medical image for the left eye onthe display screen of the display device 200C”, the medical observationapparatus 100 performs the following process.

Process on medical image for the right eye: performing “clipping processof clipping the central part of the medical image captured by theimaging device C2” and performing “rotation process of rotating themedical image by 90[°] to the right”.

Process on medical image for the left eye: performing “clipping processof clipping the same range as the clipping range of the medical imagecaptured by the imaging device C2, from the medical image captured bythe imaging device C5”.

FIG. 15 is a view illustrating an example of a surgical operation fieldwhere the medical observation system 1000 according to the presentembodiment is used, which is a view illustrating the surgical operationfield illustrated in FIG. 1 from another angle. FIG. 16A is a viewillustrating an example of a first imaging device and a second imagingdevice selected by the imaging control process according to the presentembodiment, and a medical image displayed on the display device 200A.FIG. 16B is a view illustrating an example of a first imaging device anda second imaging device selected by the imaging control processaccording to the present embodiment, and a medical image displayed onthe display device 200B. FIG. 16C is a view illustrating an example of afirst imaging device and a second imaging device selected by the imagingcontrol process according to the present embodiment, and a medical imagedisplayed on the display device 200C.

As illustrated in FIG. 16A, the display device 200A displays a medicalimage for the left eye captured by the imaging device C1 and a medicalimage for the right eye captured by the imaging device C3, for example.

As illustrated in FIG. 16B, the display device 200B displays a medicalimage for the left eye captured by the imaging device C1 and a medicalimage for the right eye captured by the imaging device C2. That is, thedisplay device 200B displays the medical image for the right eye and themedical image for the left eye having smaller inward angles than in thecase of the display device 200A.

As illustrated in FIG. 16C, the display device 200C displays the medicalimage for the right eye and the medical image for the left eyeillustrated with reference to FIG. 14, for example.

The medical observation apparatus 100 selects the first imaging deviceand the second imaging device by the second imaging control process inthe above-described (1) for each of the display devices 200 included inthe medical observation system 1000, and then controls to display amedical image on the display screen by the display control processaccording to the second example as illustrated with reference to FIG.14, for example.

Accordingly, the medical observation apparatus 100 can control todisplay an optimal medical image with a more natural three-dimensionaleffect for each of the display devices 200 included in the medicalobservation system 1000, as illustrated in FIGS. 16A to 16C, forexample.

FIG. 17 is a view conceptually illustrating an example of arrangement ofthe display device 200 in the medical observation system 1000. In FIG.17, the direction in which the practitioner performs medical practice onthe patient is set as a reference direction. In FIG. 17, the displaydevice 200 closer to the practitioner among the display devices 200arranged in front of the reference direction is referred to as a“practitioner display device”, while the display device 200 farther fromthe practitioner among the display devices 200 arranged in front of thereference direction is referred to as a “counter display device”. InFIG. 17, the display device 200 arranged in the left orthogonaldirection with respect to the reference direction is referred to as a“left orthogonal display device”, while the display device 200 arrangedin the right orthogonal direction with respect to the referencedirection is referred to as a “right orthogonal display device”.

Hereinafter, an example of the process according to the control methodof the present embodiment will be described with an example of“displaying the medical image for the right eye and the medical imagefor the left eye captured by imaging devices C1, C2, C3, C4, and C5similar to the devices in FIG. 14 on the display screen of the displaydevice 200 arranged as illustrated in FIG. 17”. That is, the followingexample of the processing according to the control method of the presentembodiment is an example of the second imaging control process and thedisplay control process according to the second example.

FIGS. 18A and 18B are flowcharts illustrating an example of a processaccording to the control method of the present embodiment. The processin FIGS. 18A and 18B is performed for each of the display devices 200that display the medical image for the right eye and the medical imagefor the left eye. The process illustrated in FIGS. 18A and 18B isperformed by the imaging control unit 160 and the display control unit164 illustrated in FIG. 4, for example. In FIGS. 18A and 18B, one of theimaging devices C1, C2, C3, C4, and C5 is indicated as a “camera”. InFIGS. 18A and 18B, “medical images captured by the respective imagingdevices C1, C2, C3, C4, and C5” are respectively referred to as “C1,”“C2,” “C3,” “C4,” and “C5”. In FIGS. 18A and 18B, “an image obtained byrotating the medical image captured by the imaging device C2 by 90[°] tothe left” is indicated as “C2′”. In FIG. 18A and FIG. 18B, “medicalimages obtained by rotating the medical images captured by therespective imaging devices C1, C2, C3, C4, and C5 by 180[° ]” arerespectively referred to as “C1rot”, “C2rot”, “C3rot”, “C4rot”, and“C5rot”. In FIGS. 18A and 18B, “an image obtained by rotating themedical image captured by the imaging device C2 by 90[°] to the left andis then further rotated by 180[° ]” is referred to as “C2′rot”.

The medical observation apparatus 100 specifies the position of thedisplay device 200 as a processing target (S100).

The medical observation apparatus 100 refers to “a table (or a database,similar applies hereinafter) associating data specifying the displaydevice 200 (for example, ID of the display device 200) stored in arecording medium that functions as a storage unit (not illustrated) withdata indicating arrangement with respect to the reference direction”,for example, and thereby specifies the position of the display device200 as a processing target.

Furthermore, the medical observation apparatus 100 may specify theposition of the display device 200 by using any algorithm capable ofspecifying the position of the display device 200 as a processing targeton the basis of data specifying the display device 200 as a processingtarget, for example. As an example, in a case where the display device200 as a processing target includes a direction sensor capable ofspecifying a direction, such as a position sensor and a gyro sensor, themedical observation apparatus 100 acquires data indicating detectionresults of various sensors (an example of data specifying the displaydevice 200 as a processing target) from the display device 200 as aprocessing target. Subsequently, the medical observation apparatus 100specifies the position with respect to the reference direction on thebasis of the acquired data indicating the detection results of thevarious sensors. The medical observation apparatus 100 may specify aviewing distance in the display device 200 as a processing target on thebasis of the acquired data indicating the detection results of thevarious sensors.

The medical observation apparatus 100 determines whether the positionspecified in step S100 is the left orthogonal position (S102), thespecified position is the right orthogonal position (S104), or thespecified position is the counter position (S106).

In a case where the specified position is the left orthogonal position,the display device 200 as a processing target corresponds to the “leftorthogonal display device” illustrated in FIG. 17. In a case where thespecified position is the right orthogonal position, the display device200 as a processing target corresponds to the “right orthogonal displaydevice” illustrated in FIG. 17. In a case where the specified positionis the counter position, the display device 200 as a processing targetcorresponds to the “counter display device” illustrated in FIG. 17. In acase where the position specified in step S100 does not correspond tothe left orthogonal position, the right orthogonal position, or thecounter position, the display device 200 as a processing targetcorresponds to the “practitioner display device” illustrated in FIG. 17.

The order for determining the position is not limited to the exampleillustrated in FIG. 18A.

(i) Process in a Case where it is Determined that the Specified Positionis the Left Orthogonal Position

In a case where it is determined that the position specified in theprocess of step S102 is the left orthogonal position, the medicalobservation apparatus 100 determines whether the viewing distance of thedisplay device 200 as a processing target is in proximity (S108).Hereinafter, the display device 200 as a processing target that isdetermined to have a viewing distance in proximity will be referred toas a “proximity display device” in some cases. In the following, thedisplay device 200 as a processing target that is not determined to havea viewing distance in proximity will be referred to as a “long-distancedisplay device” in some cases.

The medical observation apparatus 100 refers to, for example, a “table(database) associating data specifying the display device 200 (forexample, the ID of the display device 200) stored in a recording mediumthat functions as a storage unit (not illustrated) with data indicatingthe set viewing distance (for example, a flag indicating whether thedevice is in proximity or a data indicating the viewing distance as anumerical value)” and thereby specifies the viewing distance set for thedisplay device 200 as a processing target. Subsequently, the medicalobservation apparatus 100 determines whether the display device 200 as aprocessing target is in proximity on the basis of the specified viewingdistance.

For example, in a case where the viewing distance set for the displaydevice 200 as a processing target is represented by a flag indicatingwhether the medical device is in proximity, the medical observationapparatus 100 determines whether the display device 200 as a processingtarget is in proximity following the value indicated by the flag.Furthermore, for example, in a case where the viewing distance set forthe processing target display device 200 as a processing target isrepresented by a numerical value, the medical observation apparatus 100determines whether the display device 200 as a processing target is inproximity by a threshold process using a set threshold.

As described above, the medical observation apparatus 100 may specifythe viewing distance in the display device 200 as a processing target onthe basis of the data indicating the detection results of the varioussensors acquired from the display device 200 as a processing target andmay thereby determine whether the display device 200 as a processingtarget is in proximity.

In step S108, in a case where the viewing distance of the display device200 as a processing target is not determined to be in proximity, themedical observation apparatus 100 selects the imaging devices C2 and C5corresponding to the long-distance display device, and captures medicalimages using the selected imaging devices C2 and C5 (S110). The medicalobservation apparatus 100 sets the medical image captured by the imagingdevice C5 as a medical image for the left eye and sets the medical imagecaptured by the imaging device C2 as a medical image for the right eye.At this time, the medical observation apparatus 100 may perform a“clipping process of clipping a same range for each of the medical imagecaptured by the imaging device C2 and the medical image captured by theimaging device C5”.

The medical observation apparatus 100 rotates the medical image capturedby the imaging device C2 by 90[°] to the left (S112). Subsequently, themedical observation apparatus 100 rotates each of the medical image forthe left eye and the medical image for the right eye by 180[° ] (S114)and displays each of the medical images rotated in step S114 on thedisplay device 200 as a processing target (S116).

Moreover, in a case where the viewing distance of the display device 200as a processing target is determined to be in proximity in step S108,the medical observation apparatus 100 selects the imaging devices C4 andC5 corresponding to the short-distance display device and capturesmedical images using the selected imaging devices C4 and C5 (S118). Themedical observation apparatus 100 sets the medical image captured by theimaging device C5 as a medical image for the left eye and sets themedical image captured by the imaging device C4 as a medical image forthe right eye. At this time, the medical observation apparatus 100 mayperform a “clipping process of clipping a same range for each of themedical image captured by the imaging device C4 and the medical imagecaptured by the imaging device C5”. Subsequently, the medicalobservation apparatus 100 rotates each of the medical image for the lefteye and the medical image for the right eye by 180[° ] (S120) anddisplays each of the medical images rotated in step S120 on the displaydevice 200 as a processing target (S122).

(ii) Process in a Case where it is Determined that the SpecifiedPosition is the Right Orthogonal Position

In a case where it is determined that the position specified in theprocess of step S104 is the right orthogonal position, the medicalobservation apparatus 100 determines whether the viewing distance of thedisplay device 200 as a processing target is in proximity (S124),similarly to step S108.

In step S124, in a case where the viewing distance of the display device200 as a processing target is not determined to be in proximity, themedical observation apparatus 100 selects the imaging devices C2 and C5corresponding to the long-distance display device, and captures medicalimages using the selected imaging devices C2 and C5 (S126). The medicalobservation apparatus 100 sets the medical image captured by the imagingdevice C5 as a medical image for the left eye and sets the medical imagecaptured by the imaging device C2 as a medical image for the right eye.At this time, the medical observation apparatus 100 may perform a“clipping process of clipping a same range for each of the medical imagecaptured by the imaging device C2 and the medical image captured by theimaging device C5”.

The medical observation apparatus 100 rotates the medical image capturedby the imaging device C2 by 90[°] to the left (S128). Subsequently, themedical observation apparatus 100 controls to display the medical imagecaptured by the imaging device C5 as a medical image for the left eyeand sets the medical image rotated in step S128 as a medical image forthe right eye on the display device 200 as a processing target (S130).

Moreover, in step S124, in a case where the viewing distance of thedisplay device 200 as a processing target is determined to be inproximity, the medical observation apparatus 100 the medical observationapparatus 100 selects the imaging devices C4 and C5 corresponding to theshort-distance display device and captures medical images using theselected imaging devices C4 and C5 (S132). The medical observationapparatus 100 sets the medical image captured by the imaging device C5as a medical image for the left eye and sets the medical image capturedby the imaging device C4 as a medical image for the right eye. At thistime, the medical observation apparatus 100 may perform a “clippingprocess of clipping a same range for each of the medical image capturedby the imaging device C4 and the medical image captured by the imagingdevice C5”. Subsequently, the medical observation apparatus 100 controlsto display each of the medical image for the left eye and the medicalimage for the right eye on the display device 200 as a processing target(S134).

(iii) Processing in a Case where it is Determined that the SpecifiedPosition is the Counter Position

In a case where it is determined that the position specified in theprocess of step S104 is the counter position, the medical observationapparatus 100 determines whether the viewing distance of the displaydevice 200 as a processing target is in proximity (S136), similarly tostep S108.

In step S136, in a case where the viewing distance of the display device200 as a processing target is not determined to be in proximity, themedical observation apparatus 100 selects the imaging devices C1 and C2corresponding to the long-distance display device and captures medicalimages using the selected imaging devices C1 and C2 (S138). The medicalobservation apparatus 100 sets the medical image captured by the imagingdevice C1 as a medical image for the left eye and sets the medical imagecaptured by the imaging device C2 as a medical image for the right eye.At this time, the medical observation apparatus 100 may perform a“clipping process of clipping a same range for each of the medical imagecaptured by the imaging device C1 and the medical image captured by theimaging device C2”. Subsequently, the medical observation apparatus 100rotates each of the medical image for the left eye and the medical imagefor the right eye by 180[° ] (S140) and displays each of the medicalimages rotated in step S140 on the display device 200 as a processingtarget (S142).

Moreover, in step S136, in a case where the viewing distance of thedisplay device 200 as a processing target is determined to be inproximity, the medical observation apparatus 100 selects the imagingdevices C1 and C3 corresponding to the short-distance display device andcaptures medical images using the selected imaging devices C1 and C3(S144). The medical observation apparatus 100 sets the medical imagecaptured by the imaging device C1 as a medical image for the left eyeand sets the medical image captured by the imaging device C3 as amedical image for the right eye. At this time, the medical observationapparatus 100 may perform a “clipping process of clipping a same rangefor each of the medical image captured by the imaging device C1 and themedical image captured by the imaging device C3”. Subsequently, themedical observation apparatus 100 rotates each of the medical image forthe left eye and the medical image for the right eye by 180[° ] (S146)and displays each of the medical images rotated in step S146 on thedisplay device 200 as a processing target (S148).

(iv) Process in a Case where the Specified Position does not Correspondto the Left Orthogonal Position, the Right Orthogonal Position, or theCounter Position

In a case where the specified position does not correspond to the leftorthogonal position, the right orthogonal position, or the counterposition in the process of steps S102, S104, and S106, the medicalobservation apparatus 100 determines whether the viewing distance of thedisplay device 200 as a processing target is in proximity (S150),similarly to step S108.

In step S150, in a case where the viewing distance of the display device200 as a processing target is not determined to be in proximity, themedical observation apparatus 100 selects the imaging devices C1 and C2corresponding to the long-distance display device and captures medicalimages using the selected imaging devices C1 and C2 (S152). The medicalobservation apparatus 100 sets the medical image captured by the imagingdevice C1 as a medical image for the left eye and sets the medical imagecaptured by the imaging device C2 as a medical image for the right eye.At this time, the medical observation apparatus 100 may perform a“clipping process of clipping a same range for each of the medical imagecaptured by the imaging device C1 and the medical image captured by theimaging device C2”. Subsequently, the medical observation apparatus 100controls to display each of the medical image for the left eye and themedical image for the right eye on the display device 200 as aprocessing target (S154).

Moreover, in step S150, in a case where the viewing distance of thedisplay device 200 as a processing target is determined to be inproximity, the medical observation apparatus 100 selects the imagingdevices C1 and C3 corresponding to the short-distance display device,and captures medical images using the selected imaging devices C1 and C3(S156). The medical observation apparatus 100 sets the medical imagecaptured by the imaging device C1 as a medical image for the left eyeand sets the medical image captured by the imaging device C3 as amedical image for the right eye. At this time, the medical observationapparatus 100 may perform a “clipping process of clipping a same rangefor each of the medical image captured by the imaging device C1 and themedical image captured by the imaging device C3”. Subsequently, themedical observation apparatus 100 controls to display each of themedical image for the left eye and the medical image for the right eyeon the display device 200 as a processing target (S158).

The medical observation apparatus 100 performs the process illustratedin FIGS. 18A and 18B, for example, as the process according to thecontrol method of the present embodiment and thereby controls to displayan optimal medical image with a more natural three-dimensional effect oneach of the display devices 200. Needless to say, the example of theprocessing according to the control method of the present embodiment isnot limited to the examples illustrated in FIGS. 18A and 18B.

[3] An Example of an Effect Achieved by Using the Control Method of thePresent Embodiment

The following effects can be obtained by using the control methodaccording to the present embodiment, for example. Needless to say, theeffects achieved by using the control method according to the presentembodiment are not limited to the examples described below.

-   -   Realizing natural three-dimensional effect with less fatigue by        achieving a match between the inward angle at the time of        imaging and the convergence angle at the time of viewing,    -   For example, as illustrated in FIGS. 12 and 13, the imaging        device unit including four or more perpendicularly arranged        imaging devices captures a medical image for the right eye and a        medical image for the left eye, thereby making it possible to        provide a practitioner and an assistant at a position orthogonal        to each other with good stereoscopic images.    -   For example, as illustrated in FIGS. 14 to 18B, it is possible        to provide an optimal stereoscopic image corresponding to the        arrangement of the display device in the medical observation        system.    -   For example, as illustrated in FIG. 9, coaxial imaging between        an overhead view and an enlarged view can be realized by an        imaging device unit in which three or more imaging devices are        arranged on a same plane.    -   Although fine adjustment of the convergence angle of about ±1[°        ] is possible in parallax adjustment, it is not possible to cope        with a case where the inward angle differs greatly to the extent        that the adjustment exceeds the range of the fine adjustment.        With respect to this issue, in a case where the control method        according to the present embodiment is used, the inward angle        can be adjusted to the convergence angle even in a case where        the convergence angle is greatly different, making it possible        to reproduce the three-dimensional effect with less fatigue.

(Program According to the Present Embodiment)

Execution of a program (for example, a program capable of executingprocesses according to the control method of the present embodiment,such as an “imaging control process”, an “imaging control process, or adisplay control process”) for causing a computer system to function as amedical observation apparatus according to the present embodiment (or acontrol apparatus according to the present embodiment) by a processor orthe like in a computer system, thereby enabling acquisition of a medicalimage with a more natural three-dimensional effect. Here, the computersystem according to the present embodiment includes a single computer ora plurality of computers. A series of processes according to the controlmethod of the present embodiment are performed by the computer systemaccording to the present embodiment.

Furthermore, execution of a program for causing a computer system tofunction as the medical observation apparatus according to the presentembodiment (or the control apparatus according to the presentembodiment) by a processor or the like in the computer system, making itpossible to obtain the effect achieved by the display realized by theprocessing according to the control method of the present embodimentdescribed above.

The preferred embodiments of the present disclosure have been describedabove in detail with reference to the accompanying drawings, althoughthe technical scope of the present disclosure is not limited to suchexamples. It is apparent that a person skilled in the art of thetechnical field of the present disclosure can make various changes ormodifications within the scope of the technical concept described in theclaims, and it is naturally understood that these also belong to thetechnical scope of the present disclosure.

For example, while in the above description, a program (computerprogram) for causing a computer system to function as the medicalobservation apparatus according to the present embodiment is provided,the present embodiment can further provide a recording medium storingthe above-described program.

The configuration described above illustrates an example of the presentembodiment, and naturally belongs to the technical scope of the presentdisclosure.

Furthermore, the effects described in the present specification aremerely illustrative or exemplary and are not limited. That is, thetechnology according to the present disclosure can exhibit other effectsthat are apparent to those skilled in the art from the description ofthe present specification in addition to or instead of the aboveeffects.

Note that the following configurations also belong to the technicalscope of the present disclosure.

(1)

A medical control apparatus including an imaging control unit thatadjusts an inward angle which is an angle formed by an imaging directionin a first imaging device that captures a medical image for a right eyeand an imaging direction in a second imaging device that captures amedical image for a left eye to the inward angle corresponding to adisplay device that displays the medical image for the right eye and themedical image for the left eye.

(2) The medical control apparatus according to (1), wherein the imagingcontrol unit adjusts the inward angle on the basis of a convergenceangle formed by a right eye and a left eye of a viewer of a displayscreen that displays the medical image for the right eye and the medicalimage for the left eye.(3)

The medical control apparatus according to (1) or (2), wherein theimaging control unit changes a baseline length between the first imagingdevice and the second imaging device and thereby adjusts the inwardangle to achieve a match with a convergence angle formed by a right eyeand a left eye of a viewer of a display screen that displays the medicalimage for the right eye and the medical image for the left eyecorresponding to the display device.

(4)

The medical control apparatus according to any one of (1) to (3),wherein the imaging control unit controls an adjustment mechanism thatadjusts the inward angle and thereby adjusts the inward angle.

(5)

The medical control apparatus according to (4), wherein

the adjustment mechanism is a first movement mechanism capable of movingone or both of the first imaging device and the second imaging device,and

the imaging control unit controls movement of one or both of the firstimaging device and the second imaging device by the first movementmechanism.

(6)

The medical control apparatus according to (4), wherein

the adjustment mechanism is a second movement mechanism capable ofchanging one or both of the imaging direction of the first imagingdevice and the imaging direction of the second imaging device by movingan optical system, and

the imaging control unit controls movement of the optical system in thesecond movement mechanism.

(7)

The medical control apparatus according to any one of (4) to (6),wherein the imaging control unit adjusts the inward angle so as tocorrespond to the display device.

(8)

The medical control apparatus according to any one of (4) to (7),further including a display control unit that controls to display themedical image for the right eye and the medical image for the left eyecaptured after adjustment of the inward angle, on a display screen ofthe display device.

(9)

The medical control apparatus according to any one of (1) to (3),wherein the imaging control unit selects the first imaging device andthe second imaging device from three or more imaging devices havingdifferent imaging directions and thereby adjusts the inward angle.

(10)

The medical control apparatus according to (9), wherein the imagingcontrol unit selects the first imaging device and the second imagingdevice from the three or more imaging devices arranged on a same plane.

(11)

The medical control apparatus according to (10), wherein the imagingcontrol unit selects the first imaging device and the second imagingdevice so as to correspond to the display device.

(12)

The medical control apparatus according to (9), wherein

three or more imaging devices are arranged on a first plane, and threeor more imaging devices are arranged on a second plane orthogonal to thefirst plane, and

the imaging control unit selects the first imaging device and the secondimaging device from the three or more imaging devices arranged on thefirst plane or from the three or more imaging devices arranged on thesecond plane so as to correspond to the display device.

(13)

The medical control apparatus according to any one of (9) to (12),further including a display control unit that controls to display themedical image for the right eye captured by the selected first imagingdevice and the medical image for the left eye captured by the selectedsecond imaging device, on a display screen of the display device.

(14)

The medical control apparatus according to (13), wherein

the display control unit

selectively performs a rotation process of rotating the medical imagefor the right eye and the medical image for the left eye so as tocorrespond to the display device, and

controls to display the medical image for the right eye and the medicalimage for the left eye on which the rotation process has beenselectively performed, on a display screen of the display device.

(15)

The medical control apparatus according to (13) or (14), wherein

the display control unit

selectively performs a clipping process of clipping a portion of themedical image for the right eye and a portion of the medical image forthe left eye so as to correspond to the display device, and

controls to display the medical image for the right eye and the medicalimage for the left eye on which the clipping process has beenselectively performed, on a display screen of the display device.

(16)

A medical observation system including:

a medical control apparatus including an imaging control unit thatadjusts an inward angle which is an angle formed by an imaging directionin a first imaging device that captures a medical image for a right eyeand an imaging direction in a second imaging device that captures amedical image for a left eye to the inward angle corresponding to adisplay device that displays the medical image for the right eye and themedical image for the left eye; and

a display device that displays the medical image for the right eye andthe medical image for the left eye on a display screen.

REFERENCE SIGNS LIST

-   -   100 MEDICAL OBSERVATION APPARATUS    -   102 BASE    -   104 ARM    -   106, C1, C2, C3, C4, C5 IMAGING DEVICE    -   110 a, 110 b, 110 c, 110 d, 110 e, 110 f JOINT    -   112 a, 112 b, 112 c, 112 d, 112 e, 112 f LINK    -   120 IMAGING MEMBER    -   122 TUBULAR MEMBER    -   124 ZOOM SWITCH    -   126 FOCUS SWITCH    -   128 OPERATION MODE CHANGE SWITCH    -   152 ARM UNIT    -   154 IMAGING UNIT    -   156 COMMUNICATION UNIT    -   158 CONTROL UNIT    -   160 IMAGING CONTROL UNIT    -   162 ARM CONTROL UNIT    -   164 DISPLAY CONTROL UNIT    -   200, 200A, 200B, 200C, 200D DISPLAY DEVICE    -   1000 MEDICAL OBSERVATION SYSTEM

1. A medical control apparatus comprising an imaging control unit thatadjusts an inward angle which is an angle formed by an imaging directionin a first imaging device that captures a medical image for a right eyeand an imaging direction in a second imaging device that captures amedical image for a left eye to the inward angle corresponding to adisplay device that displays the medical image for the right eye and themedical image for the left eye.
 2. The medical control apparatusaccording to claim 1, wherein the imaging control unit adjusts theinward angle on the basis of a convergence angle formed by a right eyeand a left eye of a viewer of a display screen that displays the medicalimage for the right eye and the medical image for the left eye.
 3. Themedical control apparatus according to claim 1, wherein the imagingcontrol unit changes a baseline length between the first imaging deviceand the second imaging device and thereby adjusts the inward angle toachieve a match with a convergence angle formed by a right eye and aleft eye of a viewer of a display screen that displays the medical imagefor the right eye and the medical image for the left eye correspondingto the display device.
 4. The medical control apparatus according toclaim 1, wherein the imaging control unit controls an adjustmentmechanism that adjusts the inward angle and thereby adjusts the inwardangle.
 5. The medical control apparatus according to claim 4, whereinthe adjustment mechanism is a first movement mechanism capable of movingone or both of the first imaging device and the second imaging device,and the imaging control unit controls movement of one or both of thefirst imaging device and the second imaging device by the first movementmechanism.
 6. The medical control apparatus according to claim 4,wherein the adjustment mechanism is a second movement mechanism capableof changing one or both of the imaging direction of the first imagingdevice and the imaging direction of the second imaging device by movingan optical system, and the imaging control unit controls movement of theoptical system in the second movement mechanism.
 7. The medical controlapparatus according to claim 4, wherein the imaging control unit adjuststhe inward angle so as to correspond to the display device.
 8. Themedical control apparatus according to claim 4, further comprising adisplay control unit that controls to display the medical image for theright eye and the medical image for the left eye captured afteradjustment of the inward angle, on a display screen of the displaydevice.
 9. The medical control apparatus according to claim 1, whereinthe imaging control unit selects the first imaging device and the secondimaging device from three or more imaging devices having differentimaging directions and thereby adjusts the inward angle.
 10. The medicalcontrol apparatus according to claim 9, wherein the imaging control unitselects the first imaging device and the second imaging device from thethree or more imaging devices arranged on a same plane.
 11. The medicalcontrol apparatus according to claim 10, wherein the imaging controlunit selects the first imaging device and the second imaging device soas to correspond to the display device.
 12. The medical controlapparatus according to claim 9, wherein three or more imaging devicesare arranged on a first plane, and three or more imaging devices arearranged on a second plane orthogonal to the first plane, and theimaging control unit selects the first imaging device and the secondimaging device from the three or more imaging devices arranged on thefirst plane or from the three or more imaging devices arranged on thesecond plane so as to correspond to the display device.
 13. The medicalcontrol apparatus according to claim 9, further comprising a displaycontrol unit that controls to display the medical image for the righteye captured by the selected first imaging device and the medical imagefor the left eye captured by the selected second imaging device, on adisplay screen of the display device.
 14. The medical control apparatusaccording to claim 13, wherein the display control unit selectivelyperforms a rotation process of rotating the medical image for the righteye and the medical image for the left eye so as to correspond to thedisplay device, and controls to display the medical image for the righteye and the medical image for the left eye on which the rotation processhas been selectively performed, on a display screen of the displaydevice.
 15. The medical control apparatus according to claim 13, whereinthe display control unit selectively performs a clipping process ofclipping a portion of the medical image for the right eye and a portionof the medical image for the left eye so as to correspond to the displaydevice, and controls to display the medical image for the right eye andthe medical image for the left eye on which the clipping process hasbeen selectively performed, on a display screen of the display device.16. A medical observation system comprising: a medical control apparatusincluding an imaging control unit that adjusts an inward angle which isan angle formed by an imaging direction in a first imaging device thatcaptures a medical image for a right eye and an imaging direction in asecond imaging device that captures a medical image for a left eye tothe inward angle corresponding to a display device that displays themedical image for the right eye and the medical image for the left eye;and a display device that displays the medical image for the right eyeand the medical image for the left eye on a display screen.